Information processing apparatus, system, information processing method, method of manufacturing products, and recording medium

ABSTRACT

An information processing apparatus includes an information processing portion. The information processing portion is configured to accept registration of first teach data and second teach data such that the first teach data and the second teach data are associated with each other. The first teach data is related to a robot arm. The second teach data is related to a peripheral apparatus disposed around the robot arm.

BACKGROUND OF THE INVENTION Field of the Invention

The present disclosure relates to information processing.

Description of the Related Art

In general, a simulator that can create teach data for a robot arm byusing a computer is known. The simulator can simulate the operation of a3D model that corresponds to a robot arm, in a three-dimensional virtualspace. Specifically, the simulator simulates the operation of a 3D modelthat corresponds to a robot arm, depending on the teach data for therobot arm, by using a computer. In this simulation, a user can check theoperation of the robot arm by checking the operation of the 3D model.Japanese Patent Application Publication No. H06-47689 discloses a methodthat controls a robot arm depending on the teach data registered by sucha simulator.

SUMMARY OF THE INVENTION

According to one aspect of the present invention, an informationprocessing apparatus includes an information processing portion. Theinformation processing portion is configured to accept registration offirst teach data and second teach data such that the first teach dataand the second teach data are associated with each other. The firstteach data is related to a robot arm. The second teach data is relatedto a peripheral apparatus disposed around the robot arm.

Further features of the present invention will become apparent from thefollowing description of exemplary embodiments with reference to theattached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a robot system that is one example of asystem of a first embodiment.

FIG. 2 is a diagram illustrating an information processing apparatus ofthe first embodiment.

FIG. 3 is a block diagram of the information processing apparatus of thefirst embodiment.

FIG. 4 is a flowchart illustrating an information processing methodperformed by the information processing apparatus of the firstembodiment.

FIG. 5A is a diagram illustrating a user interface image of the firstembodiment.

FIG. 5B is a diagram illustrating a virtual space, and a virtual objectdisposed in the virtual space in the first embodiment

FIG. 6A is a diagram illustrating a user interface image of the firstembodiment.

FIG. 6B is a diagram illustrating a virtual space, and virtual objectsdisposed in the virtual space in the first embodiment

FIG. 7 is a diagram illustrating a user interface image of the firstembodiment.

FIG. 8A is a diagram illustrating one example of overall images of thefirst embodiment.

FIG. 8B is a diagram illustrating one example of overall images of thefirst embodiment.

FIG. 8C is a diagram illustrating one example of overall images of thefirst embodiment.

FIG. 8D is a diagram illustrating one example of overall images of thefirst embodiment.

FIG. 9A is a diagram illustrating a user interface image of a secondembodiment.

FIG. 9B is a diagram illustrating a user interface image of the secondembodiment.

FIG. 10 is a diagram illustrating a user interface image of a thirdembodiment.

FIG. 11A is a diagram illustrating a robot system of a fourthembodiment.

FIG. 11B is a diagram illustrating a virtual space, and virtual objectsdisposed in the virtual space in the fourth embodiment.

FIG. 11C is a diagram illustrating a user interface image of the fourthembodiment.

DESCRIPTION OF THE EMBODIMENTS

In an actual site such as a factory, a robot arm operates not alone, butin synchronization with peripheral apparatuses. In such a system,teaching work for synchronizing the robot arm and the peripheralapparatuses takes time.

The present disclosure is to simplify the teaching work of the wholesystem.

Hereinafter, some embodiments of the present disclosure will bedescribed in detail with reference to the accompanying drawings.

First Embodiment

FIG. 1 is a diagram illustrating a robot system 1000 that is one exampleof a system of a first embodiment The robot system 1000 is disposed in afactory or the like, and is used for manufacturing a product W0. Forexample, the product W0 is constituted by workpieces W1 and W2, and ismanufactured by the robot system 1000 assembling the workpiece W1 to theworkpiece W2. The product W0 may be a final product or an intermediateproduct. In another case, a cutting machine or a grinding machine may bedisposed in the robot system 1000, and a product may be manufactured bymachining the workpiece W1 or W2.

The robot system 1000 includes a robot arm 201, a robot hand 202, aprocessing machine 203, and an automatic guided vehicle (AGV) 204. Eachof the robot hand 202, the processing machine 203, and the AGV 204 isone example of peripheral apparatuses, and is disposed around the robotarm 201. Note that although the description will be made, in the firstembodiment, for a case where the robot system 1000 includes theplurality of peripheral apparatuses 202 to 204, the present disclosureis not limited to this. For example, the robot system 1000 has only toinclude at least one peripheral apparatus.

For example, the robot arm 201 is a vertically articulated six-axisrobot arm, and includes a plurality of links 210 to 216 linked with eachother via a plurality of joints J1 to J6. Among the plurality of links210 to 216, the link 210 is a base, and is fixed to a stand (notillustrated), for example.

The robot hand 202 is one example of end effectors, and includes a handbody 220 and a plurality of (e.g., two) claws 221 and 222. The claws 221and 222 are supported by the hand body 220 such that the claws 221 and222 can open and close. In the first embodiment, the claws 221 and 222move independently from each other. However, the present disclosure isnot limited to this. For example, the claws 221 and 222 may movetogether with each other. The hand body 220 is a base that supports thetwo claws 221 and 222. The hand body 220 of the robot hand 202 isattached to a predetermined portion of the robot arm 201, such as thelink 216.

In the first embodiment, the workpiece W1 can be held by moving theclaws 221 and 222. In addition, the workpiece W1 can be moved by movingthe robot arm 201 in a state where the workpiece W1 is held, so that theworkpiece W1 can be assembled to the workpiece W2. The processingmachine 203 can perform a predetermined process, such as a cuttingprocess or a grinding process, on an object; and includes a machine body230 and a door 231. The door 231 is supported by the machine body 230such that the door 231 can be opened and closed. The AGV 204 can movearound the robot arm 201.

In addition, the robot system 1000 includes a control unit 300. Thecontrol unit 300 includes a controller 301 that controls the robot arm201, a controller 302 that controls the robot hand 202, a controller 303that controls the processing machine 203, and a controller 304 thatcontrols the AGV 204. Each of the controllers 301 to 304 is a computer.Note that although the description will be made for a case where thecontrol unit 300 is constituted by a plurality of computers, the controlunit 300 may be constituted by a single computer.

Furthermore, the robot system 1000 includes an information processingapparatus 100. The information processing apparatus 100 is a computer,and functions as a simulator that can perform computer simulation forallowing a user to check the operation of the robot arm 201 and theperipheral apparatuses 202 to 204.

In the first embodiment, the information processing apparatus 100creates teach data for the robot arm 201 and the peripheral apparatuses202 to 204 by a user operating the information processing apparatus 100.The teach data is referred to also as teach points. The informationprocessing apparatus 100 sends teach data for each of the robot arm 201and the peripheral apparatuses 202 to 204, to a corresponding one of theplurality of controllers 301 to 304. The controllers 301 to 304 receivethe respective teach data; and control the robot arm 201 and theperipheral apparatuses 202 to 204, depending on the respective teachdata received.

In the first embodiment, the teach data for the robot arm 201 is, forexample, information on angles of the joints J1 to J6, or information ona position and posture of the distal end of the robot arm 201 in a workspace where the robot arm 201 is disposed. The information on angles ofthe joints J1 to J6 serves also as teach data for the links 211 to 216.The teach data for the robot hand 202 is information on positions of theclaws 221 and 222 with respect to the hand body 220. The information onpositions of the claws 221 and 222 serves also as teach data for theclaws 221 and 222. The teach data for the processing machine 203 is, forexample, information on a position of the door 231 with respect to themachine body 230. The teach data for the AGV 204 is, for example,information on a position and posture of the AGV 204 in the work spacewhere the robot arm 201 is disposed.

FIG. 2 is a diagram illustrating the information processing apparatus100 of the first embodiment. The information processing apparatus 100includes a computer body 110, a keyboard 111, and a mouse 112. Each ofthe keyboard 111 and the mouse 112 is one example of input portionsconnected to the computer body 110. In addition, the informationprocessing apparatus 100 includes a monitor 113 that is one example ofdisplay portions. The monitor 113 is a display that includes a displayscreen 150 on which various images are displayed. The computer body 110is a computing apparatus. Note that although the description will bemade for a case where the input portions and the display portion aredevices separated from each other, the present disclosure is not limitedto this. For example, the input portions and the display portion may beintegrated into a single device, such as a touch panel display.Hereinafter, the description will be made for a case where the inputdevices are the keyboard 111 and the mouse 112 and the display device isthe monitor 113. In addition, although the description will be made fora case where the information processing apparatus 100 is a desktop PCthat is a general-purpose computer, the present disclosure is notlimited to this. For example, the information processing apparatus 100may be another general-purpose computer such as a laptop PC, a tabletPC, or a smartphone, or may be a teaching pendant.

FIG. 3 is a block diagram of the information processing apparatus 100 ofthe first embodiment The computer body 110 includes a central processingunit (CPU) 120 that is one example of information processing portions,and that is one example of processors. In addition, the computer body110 also includes a read only memory (ROM) 121, a random access memory(RAM) 122, and a hard disk drive (HDD) 123, each of which is one exampleof storage devices. In addition, the computer body 110 also includes arecording-disk drive 124 and a plurality of interfaces 125 to 128. Theinterfaces 125 to 128 are input/output interfaces. The CPU 120, the ROM121, the RAM 122, the HDD 123, the recording-disk drive 124, and theinterfaces 125 to 128 are communicatively connected with each other viaa bus 129.

The ROM 121 stores a base program related to the operation of thecomputer. The RAM 122 is a storage device that temporarily storesvarious types of data, such as results of a computing process performedby the CPU 120. The HDD 123 can store various types of data, such asresults of a computing process performed by the CPU 120 and dataobtained from an external device. The HDD 123 can also store componentinformation of the robot arm 201 and the peripheral apparatuses 202 to204. In the first embodiment, the HDD 123 stores a program 140 thatcauses the CPU 120 to perform various processes. The program 140 is apiece of application software that can be executed by the CPU 120.

The CPU 120 executes below-described information processing by executingthe program 140 stored in the HDD 123. The recording-disk drive 124 canread various types of data and a program stored in a recording disk 115.The program 140 may be stored in the recording disk 115, and may beprovided from the recording disk 115 to the information processingapparatus 100.

Note that although the program 140 is stored in the HDD 123 in the firstembodiment, the present disclosure is not limited to this. The program140 may be recorded in any recording medium as long as the recordingmedium is a computer-readable non-transitory recording medium. Forexample, a flexible disk, a hard disk, an optical disk, amagneto-optical disk, a magnetic tape, a nonvolatile memory, or the likemay be used as the recording medium that provides the program 140 to thecomputer.

The interface 125 is connected with the keyboard 111, and the interface126 is connected with the mouse 112. A user can input data into thecomputer body 110 by operating an input device, such as the keyboard 111or the mouse 112. The interface 127 is connected with the monitor 113.The monitor 113 can display, on the display screen 150, various types ofimages, including a user interface image used for inputting or editingdata and an image used for displaying the state of a component model orthe like in a three-dimensional virtual space. Note that in the firstembodiment, the user interface image is a graphical user-interfaceimage. The interface 128 can be connected with an external storagedevice 114, such as a rewritable nonvolatile memory or an external HDD.

FIG. 4 is a flowchart illustrating an information processing methodperformed by the information processing apparatus 100 of the firstembodiment. First, the CPU 120 accepts the registration of structuraldata of the robot arm 201 performed by a user (S100). The structuraldata is model data of a virtual object that corresponds to a structuralobject. The structural data includes three-dimensional shape data of acomponent of the virtual object, and data on a connection method forconnecting components.

FIGS. 5A and 5B are diagrams for explaining Step S100. FIG. 5Aillustrates a user interface image UI1 displayed on the display screen150 of the monitor 113 illustrated in FIG. 2 . FIG. 5B illustrates avirtual space V defined in a process performed by the CPU 120, and avirtual object disposed in the virtual space V The virtual space Vcorresponds to the above-described work space. The user interface imageUI1 illustrated in FIG. 5A includes a window 401 and a window 402. TheCPU 120 can accept the registration of a virtual robot arm 201V thatcorresponds to the robot arm 201, in the window 401 and the window 402of the user interface image UI1.

The window 401 includes a title bar 4011 and a registration area 4012.In the title bar 4011, a name such as “robot system” is displayed as atitle. The registration area 4012 is an area in which a user can inputregistration information by using the keyboard 111 and the mouse 112,which are one example of input devices. Via the registration area 4012,the CPU 120 accepts the registration of information performed by a user.FIG. 5A illustrates a state in which the virtual robot arm 201V thatcorresponds to the robot arm 201 is registered by a user. The virtualrobot arm 201V is one example of a first model (data), and is a modelthat includes three-dimensional shape data (hereinafter referred to as3D data) corresponding to the robot arm 201.

The CPU 120 disposes the virtual robot arm 201V, registered by a user,in the virtual space V. The virtual robot arm 201V includes a pluralityof components 210V to 216V associated with each other. The components210V to 216V correspond to the links 210 to 216, respectively.

For example, the 3D data of each of the components 210V to 216V of thevirtual robot arm 201V is CAD data. The 3D data of each of thecomponents 210V to 216V is provided with a unique file name, and isstored in a storage device, such as the HDD 123, as a file that the CPU120 can refer to.

As illustrated in FIG. 5A, the information of the virtual object isdefined by using a tree structure T in which nodes are branched from aroot R and associated with each other. Thus, the information processingapparatus 100 of the first embodiment sets the virtual object in thevirtual space V by using the information of the virtual object. In thetree structure T, the nodes can be set freely by a user. That is, thenodes can be added, edited, or deleted freely by a user. In addition, auser can freely give names to the root R and the nodes.

Since the vertically articulated robot arm 201 has the plurality oflinks 210 to 216 linked with each other in series, a plurality of nodesN0 to N6 is linked with each other in series with respect to the root R,and registered. The root R corresponds to the virtual space V. The nodesN0 to N6 correspond to the components 210V to 216V of the virtual robotarm 201V, respectively.

In the example of FIG. 5A, a name “ground” is given to the root R, andregistered by a user. In addition, the node N0 of a child whose parentis the root R, and a name “robot 1_base” corresponding to the Node N0are registered by a user. In addition, the node N1 of a child whoseparent is the Node N0, and a name “robot 1_shaft 1” corresponding to theNode N1 are registered by a user. The nodes N2 to N6 are also registeredby a user, like the node N1. For example, the node N6 of a child whoseparent is the Node N5, and a name “robot 1_shaft 6” corresponding to theNode N6 are registered by a user. In this manner, the nodes N0 to N6defined with respect to the root R, and unique names of the nodes N0 toN6 are registered by a user.

Next, a method of registering the information corresponding to each ofthe nodes N0 to N6 will be described by using the node N6 as an example.Suppose that the node N6 is selected by a user operating a mouse pointerP1 in the registration area 4012 of the window 401. Responding to theselection operation, the CPU 120 causes the monitor 113 to display thewindow 402 as the user interface image UI1. The window 402 is a windowin which the CPU 120 can accept the registration of information of thenode N6. Note that the method of displaying the window 402 is notlimited to this. For example, the CPU 120 may cause the monitor 113 todisplay a robot arm image so that a user can select a component image ofthe virtual robot arm 201V by operating the mouse pointer P1. The robotarm image is a model image that corresponds to the virtual robot arm201V illustrated in FIG. 5B. In this case, the CPU 120 may cause themonitor 113 to display the window 402 that corresponds to a componentimage selected by a user by operating the mouse pointer P1 in the robotarm image.

The window 402 of FIG. 5A illustrates a state in which the informationhas already been registered by a user. The window 402 includes a titlebar 4021 and a registration area 4022. In the title bar 4021, the name“robot 1_shaft 6” is displayed as a name registered for the node N6. Theregistration area 4022 includes a box 4023 and a box 4024. In this case,the name of the parent node N5 is registered in the box 4023, and aconnection method that connects the component 216V of the Node N6 andthe component 215V of the parent node N5 is selected and registered inthe box 4024. In addition, the registration area 4022 includes a box4025 and a box 4026. In this case, a relative position of the component216V to the component 215V of the parent node N5 is registered in thebox 4025, and the file name of 3D data of the component 216V of the nodeN6 itself is registered in the box 4026. A user can input information inthe boxes 4023 to 4026 by using the keyboard 111 and the mouse 112.

As described above, in Step S100, the CPU 120 accepts the registrationof structural data of the robot arm 201 performed by a user operatingthe input devices. Specifically, the CPU 120 can accept the registrationof the virtual robot arm 201V in the user interface image UI1. That is,the CPU 120 can accept the registration of the virtual robot arm 201V byusing the names, “robot 1_base”, “robot 1_shaft 1”, . . . , and “robot1_shaft 6”, assigned to the virtual robot arm 201V. Each of the names,“robot 1_base”, “robot 1_shaft 1”, . . . , and “robot 1_shaft 6”, is oneexample of a third name.

Note that although the description has been made for the case where theregistration is performed, component by component, for the components210V to 216V that correspond to the links 210 to 216 of the robot arm201, the present disclosure is not limited to this. For example, thewhole of the virtual robot arm 201V, which corresponds to the robot arm201, may be registered at a time. In this case, a file that containsdata of all the components 210V to 216V of the virtual robot arm 201Vmay be prepared. In another case, a plurality of robot arms may bedisposed. In this case, a plurality of virtual robot arms may beregistered.

The CPU 120 then accepts the registration of structural data of theperipheral apparatuses 202 to 204, performed by a user (S200). Note thatStep S200 merely differs from Step S100 in that the information on anobject to be registered is the information on the peripheral apparatuses202 to 204, not the information on the robot arm 201. Thus, the processin Step S200 is the same as that in Step S100.

FIGS. 6A and 6B are diagrams for explaining Step S200. FIG. 6Aillustrates a user interface image UI1 displayed on the display screen150 of the monitor 113 illustrated in FIG. 2 . FIG. 6B illustrates avirtual space V defined in a process performed by the CPU 120, andvirtual objects disposed in the virtual space V. As in FIG. 5A, the userinterface image UI1 illustrated in FIG. 6A includes a window 401 and awindow 402. The CPU 120 can accept the registration of virtualperipheral apparatuses 202V to 204V that correspond to the peripheralapparatuses 202 to 204, in the window 401 and the window 402 of the userinterface image UI1.

FIG. 6A illustrates a state in which a virtual robot hand 202V thatcorresponds to the robot hand 202 is registered by a user. The virtualrobot hand 202V is one example of a second model (data), and is a modelthat includes 3D data corresponding to the robot hand 202. In addition,FIG. 6A illustrates a state in which a virtual processing machine 203Vthat corresponds to the processing machine 203 is registered by a user.The virtual processing machine 203V is one example of a second model,and is a model that includes 3D data corresponding to the processingmachine 203. In addition, FIG. 6A illustrates a state in which a virtualAGV 204V that corresponds to the AGV 204 is registered by a user. Thevirtual AGV 204V is one example of a second model, and is a model thatincludes 3D data corresponding to the AGV 204.

The CPU 120 disposes the virtual peripheral apparatuses 202V to 204V,registered by a user, in the virtual space V The virtual robot hand 202Vincludes a plurality of components 220V to 222V associated with eachother. The component 220V corresponds to the hand body 220, thecomponent 221V corresponds to the claw 221, and the component 222Vcorresponds to the claw 222. The virtual processing machine 203Vincludes a plurality of components 230V and 231V. The component 230Vcorresponds to the machine body 230, and the component 231V correspondsto the door 231. The virtual AGV 204V is, for example, constituted by asingle component; and corresponds to the AGV 204.

The 3D data of a component of each of the virtual peripheral apparatuses202V to 204V is CAD data, for example. The 3D data of each component isprovided with a unique file name, and is stored in a storage device,such as the HDD 123, as a file that the CPU 120 can refer to.

As illustrated in FIG. 6A, nodes N7 to N12 that correspond to theperipheral apparatuses 202 to 204 are added to the tree structure T by auser. Since the hand body 220 of the robot hand 202 is linked to thelink 216, the node N7 that corresponds to the hand body 220 is added bya user, to the node N6 that corresponds to the link 216 and serves as aparent. In addition, since the two claws 221 and 222 are linked to thehand body 220, the two nodes N8 and N9 that correspond to the two claws221 and 222 are added by a user, to the node N7 that corresponds to thehand body 220 and serves as a parent. Furthermore, since the virtualprocessing machine 203V is disposed in the virtual space V, the node N10that corresponds to the processing machine 203 is added by a user, tothe root R that serves as a parent In addition, since the door 231 islinked to the machine body 230, the node N11 that correspond to the door231 is added by a user, to the node N10 that corresponds to theprocessing machine 203 and serves as a parent. Furthermore, since thevirtual AGV 204V is disposed in the virtual space V, the node N12 thatcorresponds to the AGV 204 is added by a user, to the root R that servesas a parent As illustrated in FIG. 6A, each of the nodes N7 to N12 isgiven a unique name by a user. Note that a method of registering theinformation of each of the nodes N7 to N12 and a method of giving a nameto each of the nodes N7 to N12 are the same as those for theabove-described nodes N0 to N6.

FIG. 6A illustrates a state in which the node N8 is selected by a useroperating the mouse pointer P1 in the registration area 4012 of thewindow 401. The CPU 120 causes the monitor 113 to display the window 402as the user interface image UI1. The window 402 is a window in which theCPU 120 can accept the registration of information of the node N8. Inthis manner, a user can register the information of the node N8 in theCPU 120.

As described above, in Step S200, the CPU 120 accepts the registrationof structural data of the peripheral apparatuses 202 to 204, performedby a user operating the input devices. Specifically, the CPU 120 canaccept the registration of the virtual robot hand 202V in the userinterface image UI1. That is, the CPU 120 can accept the registration ofthe virtual robot hand 202V by using the names, “hand_base”, “hand_claw1”, and “hand_claw 2”, assigned to the virtual robot hand 202V. Inaddition, the CPU 120 can accept the registration of the virtualprocessing machine 203V in the user interface image UI1. That is, theCPU 120 can accept the registration of the virtual processing machine203V by using the names, “peripheral apparatus 1_processing machine” and“peripheral apparatus 1_door”, assigned to the virtual processingmachine 203V. In addition, the CPU 120 can accept the registration ofthe virtual AGV 204V in the user interface image UI1. That is, the CPU120 can accept the registration of the virtual AGV 204V by using thename, “peripheral apparatus 2_AGV”, assigned to the virtual AGV 204V.Each of the names, “hand_base”, “hand_claw 1”, and “hand_claw 2”, is oneexample of a fourth name. Each of the names, “peripheral apparatus1_processing machine” and “peripheral apparatus 1_door”, is one exampleof the fourth name. The name, “peripheral apparatus 2_AGV”, is oneexample of the fourth name.

The CPU 120 then accepts the registration of teach data for the robotarm 201 and the peripheral apparatuses 202 to 204, performed by a user(S300). In Step S300, the CPU 120 causes the monitor 113 to display theuser interface image UI1, in which the CPU 120 accepts the registrationof teach data for the robot arm 201 and the peripheral apparatuses 202to 204.

FIG. 7 is a diagram for explaining Step S300. FIG. 7 illustrates a userinterface image UI1 displayed on the display screen 150 of the monitor113 illustrated in FIG. 2 . The user interface image UI1 illustrated inFIG. 7 includes the window 401 and a window 403. The window 403 includesa title bar 4031 and a registration area 4032. In the title bar 4031, aname such as “system teach point” is displayed as a title. Theregistration area 4032 is an area in which a user can input registrationinformation by using the keyboard 111 and the mouse 112, which are oneexample of input devices. Via the registration area 4032, the CPU 120accepts the registration of information performed by a user.

The registration area 4032 includes a field 41 that is given a name“system-teach-point list”, and afield 42 that accepts the registrationof teach data. The field 41 includes a box 411, which accepts a namegiven to a below-described data set of teach data. The field 42 acceptsthe registration of a data set of teach data that corresponds to a box411 selected by a user.

The field 42 includes a box 421 created by a user. A user can inputteach data in the box 421 by using the keyboard 111 and the mouse 112.The field 42 includes a button 422. A user can add a box 421 byselecting the button 422 by operating the mouse pointer P1. In addition,the box 421 includes a button 423. A user can delete the box 421 byselecting the button 423 by operating the mouse pointer P1.

As an example, FIG. 7 illustrates boxes 421 ₁ to 421 ₆ that respectivelyaccept the registration of pieces of teach data T1 to T6 for the links211 to 216 of the robot arm 201. The pieces of teach data T1 to T6constitute teach data T100 for the robot arm 201. The teach data T100 isone example of first teach data.

In addition, FIG. 7 illustrates boxes 421 ₇ and 421 ₈, as an example,that respectively accept the registration of pieces of teach data T7 andT8 for the claws 221 and 222 of the robot hand 202, which is aperipheral apparatus. The pieces of teach data T7 and T8 constituteteach data T200 for the robot hand 202. The teach data T200 is oneexample of second teach data.

In addition, FIG. 7 illustrates a box 421 ₉, as an example, that acceptsthe registration of pieces of teach data T9 for the processing machine203, which is a peripheral apparatus. The teach data T9 is one exampleof the second teach data.

Note that although teach data T10 for the AGV 204 is not registered asillustrated in FIG. 7 , the CPU 120 can also accept the registration ofthe teach data T10 for the AGV 204, which is a peripheral apparatus. Theteach data T10 is one example of the second teach data.

Each of the pieces of teach data T1 to T10 is data on a position orposture of a corresponding component. For example, each of the pieces ofteach data T1 to T6 is information on an angle of a corresponding linkrelative to a parent link of the robot arm 201. In addition, each of thepieces of teach data T7 and T8 is information on the amount of openingof a corresponding claw 221 or 222 of the robot hand 202, that is,information on a position of a corresponding claw 221 or 222 withrespect to the hand body 220. In addition, the teach data T9 isinformation on the amount of opening of the door 231 of the processingmachine 203, that is, information on a position of the door 231 withrespect to the machine body 230.

The CPU 120 selects a node given a name equal to a name of a componentinputted in a box 421, from among the plurality of nodes N0 to N12. TheCPU 120 then accepts the registration of teach data inputted in the box421, as teach data for the component of the node. For example, if a name“robot 1_shaft 1” is inputted in a box 421 ₁, the CPU 120 accepts theregistration of the teach data T1 inputted in the box 421 ₁, as teachdata for the component 211V, that is, teach data for the link 211.

Note that a name of a node, such as the name “peripheral apparatus2_AGV” of the node N12, in the tree structure T may be dragged anddropped from the registration area 4012 into the field 42 by operatingthe mouse pointer P1. With this operation, the input work in the field42 is simplified.

The pieces of teach data T1 to T10 registered via the field 42 are teachdata for instructing the whole of the robot system 1000 at a time. Thatis, the pieces of teach data T1 to T10 are teach data for instructingthe robot arm 201 and the peripheral apparatuses 202 to 204, at a time.The pieces of teach data T1 to T10, which synchronize the operations ofthe robot arm 201 and the peripheral apparatuses 202 to 204 of the robotsystem 1000, can be collectively registered in the CPU 120 via the field42. That is, the pieces of teach data T1 to T10 are associated with eachother for synchronizing the operations of the robot arm 201 and theperipheral apparatuses 202 to 204. Thus, in the first embodiment, whenteaching is performed for synchronizing the operations of the robot arm201 and the peripheral apparatuses 202 to 204, the teaching work for thewhole of the robot system 1000 is simplified.

Note that the pieces of teach data T1 to T10 for synchronizing the robotarm 201 and the peripheral apparatuses 202 to 204 with each other can beincluded in a single data set G1. That is, a single data set G1 includesthe pieces of teach data T1 to T10. Since the data set G1 is used by thecontrol unit 300 for calculating a trajectory, a plurality of data setsG1 can be created. Preferably, each of the plurality of data sets G1 isgiven an individual name, and managed.

Thus, in the first embodiment, the plurality of data sets G1 is managedin the field 41 by using a list of names given to the data sets G1. Thatis, the field 41 is a list of names given to the data sets G1, each ofwhich includes a plurality of pieces of teach data T1 to T10 used forsynchronizing respective components with each other.

The field 41 includes at least one box created by a user. In the exampleof FIG. 7 , the field 41 includes a plurality of boxes 411. A user caninput a name, which is given to a corresponding data set G1, in acorresponding box 411 by using the keyboard 111 and the mouse 112. Thefield 41 includes a button 412. A user can add a box 411 by selectingthe button 422 by operating the mouse pointer P1. In addition, a box 411includes a button 413. A user can delete the box 411 by selecting thebutton 423 by operating the mouse pointer P1.

Each of the plurality of boxes 411 has a unique name given by a user. Inthe example of FIG. 7 , a box 411 ₁ has a name “system teach point_1”, abox 411 ₂ has a name “system teach point_2”, a box 411 ₃ has a name“system teach point_3”, and a box 411 ₄ has a name “system teachpoint_4”, which are inputted by a user. Each of the names is one exampleof a fifth name.

Each of the boxes 411 includes a button 414. If one of a plurality ofbuttons 414 included in the field 41 is selected by a user operating themouse pointer P1, a data set G1 that corresponds to the selected box 411is displayed in the field 42. In the field 42, a user can create, edit,or delete the teach data, as appropriate.

In this manner, the CPU 120 causes the monitor 113 to display theplurality of data sets G1, as a list expressed by using the two fields41 and 42. In this case, the CPU 120 causes the monitor 113 to displaythe names assigned to the plurality of data sets G1 in the field 41, asa list constituted by the plurality of boxes 411.

In the example of FIG. 7 , the button 414 of the box 411 ₁ given a name“system teach point_1” is selected, and a selection mark is given to thebutton 414 of the box 411 ₁. In addition, a plurality of pieces of teachdata T1 to T10 of a data set G1 associated with the box 411 ₁, that is,the name “system teach point_1” is displayed in the field 42.

The CPU 120 can simulate the state, or the operation, of the virtualrobot arm 201V in the virtual space V, depending on the teach data T100whose registration has been accepted by the CPU 120. In addition, theCPU 120 can simulate the state, or the operation, of the virtual robothand 202V in the virtual space V, depending on the teach data T200 whoseregistration has been accepted by the CPU 120. In addition, the CPU 120can simulate the state, or the operation, of the virtual processingmachine 203V in the virtual space V, depending on the teach data 19whose registration has been accepted by the CPU 120. In addition, theCPU 120 can simulate the state, or the operation, of the virtual AGV204V in the virtual space V, depending on the teach data T10 whoseregistration has been accepted by the CPU 120. Specifically, the CPU 120can perform the above-described simulation, depending on the teach dataT1 to T10 corresponding to one of the plurality of data sets G1,specified by a user by selecting a button 414 by operating the mousepointer P1.

The CPU 120 then causes the monitor 113 to display an image obtained byperforming the simulation (S400). FIGS. 8A to 8D are diagramsillustrating one example of overall images I1 to I4 of the firstembodiment. The overall image I1 illustrated in FIG. 8A is an imageobtained by performing the simulation, depending on the teach data T1 toT10 corresponding to the name “system teach point_1” of FIG. 7 , thatis, the box 411 ₁. The overall image I2 illustrated in FIG. 8B is animage obtained by performing the simulation, depending on the teach dataT1 to T10 corresponding to the name “system teach point_2” of FIG. 7 ,that is, the box 411 ₂. The overall image I3 illustrated in FIG. 8C isan image obtained by performing the simulation, depending on the teachdata T1 to T10 corresponding to the name “system teach point_3” of FIG.7 , that is, the box 411 ₃. The overall image I4 illustrated in FIG. 8Dis an image obtained by performing the simulation, depending on theteach data T1 to T10 corresponding to the name “system teach point_4” ofFIG. 7 , that is, the box 411 ₄.

Suppose that a box specified by a user is the box 411 ₁. That is, abutton selected by a user by operating the mouse pointer P1 is a button414 disposed in the box 411 ₁. In this case, the CPU 120 causes themonitor 113 to display the overall image I1. The overall image I1 isobtained by simulating a state of the plurality of virtual objects inthe virtual space V, depending on the teach data T1 to T10 of a data setG1 that corresponds to the box 411 ₁.

The overall image I1 includes a model image I11 that corresponds to thevirtual robot arm 201V, a model image I12 that corresponds to thevirtual robot hand 202V a model image I13 that corresponds to thevirtual processing machine 203V, and a model image I14 that correspondsto the virtual AGV 204V The model image I11 is one example of a firstmodel image. Each of the model images I12 to I14 is one example of asecond model image.

The model image I11 is obtained by simulating a state of the virtualrobot arm 201V in the virtual space V, depending on the teach data T1 toT6. The model image I12 is obtained by simulating a state of the virtualrobot hand 202V in the virtual space V, depending on the teach data T7and T8. The model image I13 is obtained by simulating a state of thevirtual processing machine 203V in the virtual space V, depending on theteach data T9. The model image I14 is obtained by simulating a state ofthe virtual AGV 204V in the virtual space V, depending on the teach dataT10.

In addition, suppose that a box specified by a user is the box 411 ₂.That is, a button selected by a user by operating the mouse pointer P1is a button 414 disposed in the box 411 ₂. In this case, the CPU 120causes the monitor 113 to display the overall image I2. The overallimage I2 is obtained by simulating a state of the plurality of virtualobjects in the virtual space V, depending on the teach data T1 to T10 ofa data set G1 that corresponds to the box 411 ₂.

The overall image I2 includes a model image I21 that corresponds to thevirtual robot arm 201V, a model image I22 that corresponds to thevirtual robot hand 202V a model image I23 that corresponds to thevirtual processing machine 203V, and a model image I24 that correspondsto the virtual AGV 204V. The model image I21 is one example of a firstmodel image. Each of the model images I22 to I24 is one example of asecond model image.

In addition, suppose that a box specified by a user is the box 411 ₃.That is, a button selected by a user by operating the mouse pointer P1is a button 414 disposed in the box 411 ₃. In this case, the CPU 120causes the monitor 113 to display the overall image I3. The overallimage I3 is obtained by simulating a state of the plurality of virtualobjects in the virtual space V, depending on the teach data T1 to T10 ofa data set G1 that corresponds to the box 411 ₃.

The overall image I3 includes a model image I31 that corresponds to thevirtual robot arm 201V, a model image I32 that corresponds to thevirtual robot hand 202V, a model image I33 that corresponds to thevirtual processing machine 203V, and a model image I34 that correspondsto the virtual AGV 204V. The model image I31 is one example of a firstmodel image. Each of the model images I32 to I34 is one example of asecond model image.

In addition, suppose that a box specified by a user is the box 411 ₄.That is, a button selected by a user by operating the mouse pointer P1is a button 414 disposed in the box 411 ₄. In this case, the CPU 120causes the monitor 113 to display the overall image I4. The overallimage I4 is obtained by simulating a state of the plurality of virtualobjects in the virtual space V, depending on the teach data T1 to T10 ofa data set G1 that corresponds to the box 411 ₄.

The overall image I4 includes a model image I41 that corresponds to thevirtual robot arm 201V, a model image I42 that corresponds to thevirtual robot hand 202V, a model image I43 that corresponds to thevirtual processing machine 203V, and a model image I44 that correspondsto the virtual AGV 204V The model image I41 is one example of a firstmodel image. Each of the model images I42 to I44 is one example of asecond model image.

As described above, the CPU 120 causes the monitor 113 to display theoverall image I1, I2, I3, or I4, which is obtained by simulating theoperation of the plurality of virtual objects 201V to 204V depending ofthe teach data T1 to T10 of a selected data set G1. With this operation,a user can easily check the operation of the whole of the robot system1000. In addition, the CPU 120 can accept the registration of data inwhich the teach data for the robot arm 201 and the teach data for theperipheral apparatuses 202 to 204 are associated with each other. Thus,a user can easily perform teaching work on the whole of the robot system1000. Note that although the robot hand, the processing machine, and theAGV are used as peripheral apparatuses in the present embodiment, thepresent disclosure is not limited to this. For example, another robotarm other than the robot arm 201 may be used as a peripheral apparatus.

Second Embodiment

Next, a second embodiment will be described. FIGS. 9A and 9B arediagrams illustrating a user interface image UI2 of the secondembodiment Note that the configuration of the whole system is the sameas that of the first embodiment. Thus, in the following description, acomponent identical to a component of the first embodiment is given anidentical symbol and the description of the structure of the componentwill be omitted.

In the second embodiment, a process of Step S300 performed by the CPU120 is different from that of the first embodiment The CPU 120 canaccept the registration of the teach data T100 and the teach data T200in a user interface image UI2 by using a name assigned in advance to theteach data T100 and a name assigned in advance to the teach data T200.

Specifically, as illustrated in FIG. 9A, the CPU 120 causes the monitor113 to display a window 403A as a user interface image UI2, instead ofthe window 403 described in the first embodiment In the window 403A, theCPU 120 can accept the registration of association between the teachdata T200 of the robot hand 202 and a unique name.

In the example of FIG. 9A, a name “hand open” is inputted in a box 411A₁of the field 41, and the CPU 120 accepts the registration of the name“hand open”. In the field 42, the teach data T7 for the claw 221 isinputted in a box 421 ₇, and the teach data T8 for the claw 222 isinputted in a box 421 ₈. Thus, the CPU 120 accepts the registration ofthe teach data T200 constituted by the teach data T7 and T8 and assignedto the name “hand open”. Similarly, in another window 404 illustrated inFIG. 9B, the CPU 120 accepts the registration of the teach data T100 forthe robot arm 201, assigned, for example, to a name “robot 1_teachpoint_1”.

The window 404 includes a title bar 4041 and a registration area 4042.In the title bar 4041, a name such as “robot teach point” is displayedas a title. The registration area 4042 is an area in which a user caninput registration information by using the keyboard 111 and the mouse112, which are one example of input devices. Via the registration area4012, the CPU 120 accepts the registration of information performed by auser. For example, a node N21 is given the name “robot 1_teach point_1”,and is assigned with the teach data T100, as described above.

Suppose that a new box 411A₂ is added to the field 41 and selected by auser, as illustrated in FIG. 9B. For example, the box 411A₂ is given aname “system teach point_1”.

In addition, suppose that the name “robot 1_teach point_1” assigned withthe teach data T100 and the name “hand open” assigned with the teachdata T200 are inputted in the field 42. When the name “robot 1_teachpoint_1” and the name “hand open” are inputted in the field 42, the CPU120 accepts the registration of the teach data T100 for the robot arm201 and the teach data T200 for the robot hand. The name “robot 1_teachpoint_1” is one example of a first name, and the name “hand open” is oneexample of a second name. For example, the name “robot 1_teach point_1”is inputted, by a user, in a box 421A₁ formed in the field 42; the name“hand open” is inputted, by a user, in a box 421A₂ formed in the field42. The input work may be performed by a user operating a drag-and-dropoperation by using the mouse 112, or by adding a box by pressing thebutton 422.

Thus, in the second embodiment, the teach data for the robot arm 201 andthe peripheral apparatuses 202 to 204 can be registered by using names,such as “robot 1_teach point_1” and “hand open”, that are registered inadvance. Since a user does not have to input numerical values every timethe teach data is registered, the efficiency of teaching work increases.Note that the present embodiment and a modification thereof may becombined with the above-described embodiment and a modification thereofin a predetermined information-processing apparatus or a predeterminedinformation-processing method.

Third Embodiment

Next, a third embodiment will be described. FIG. 10 is a diagramillustrating a user interface image UI3 of the third embodiment. Notethat the configuration of the whole system is the same as that of thefirst embodiment. Thus, in the following description, a componentidentical to a component of the first embodiment is given an identicalsymbol and the description of the structure of the component will beomitted.

The present embodiment differs from the first embodiment in that awindow 405 is added to the user interface image UI3. As in the firstembodiment, a plurality of data sets is registered in the window 403.Each of the data sets is constituted by pieces of teach data used forinstructing a momentary state of the robot system 1000. In the window405, a reproduction list of data sets is registered by a user referringto the window 403, and images created by the data sets of thereproduction list are successively displayed. Thus, the CPU 120 cancause the monitor 113 to display the images displayed as if the whole ofthe robot system 1000 were being operated. With this operation, a usercan visually recognize the change of state of the robot system 1000, andcan more easily check the operation of the robot system 1000.

The window 405 includes a title bar 4051 and a registration area 4052.In the title bar 4051, a name such as “successive display of systemteach points” is displayed as a title. The registration area 4052include a display list 45 in which a user can input registrationinformation by using the keyboard 111 and the mouse 112, which are oneexample of input devices.

The display list 45 includes a box 451 created by a user. A user caninput a name corresponding to a data set G1 (FIG. 7 ) in the box 451 byusing the keyboard 111 and the mouse 112. The display list 45 includes abutton 452. A user can add a box 451 by selecting the button 452 byoperating the mouse pointer. In addition, the box 451 includes a button453. A user can delete the box 451 by selecting the button 453 byoperating the mouse pointer. The display list 45 is created by a userinputting a name in the box 451.

Via the display list 45, the CPU 120 accepts the registration ofinformation performed by a user. For example, in the display list 45,the names “system teach point_1”, “system teach point_2”, “system teachpoint_3”, and “system teach point_4”, which have been described in thefirst embodiment, are registered in this order by a user. Each name isassociated with a corresponding data set G1. The input work on thedisplay list 45 may be performed by a user operating a drag-and-dropoperation by using the mouse 112, or by inputting letters in a box 451(which is added by selecting the button 452) by using the keyboard 111.The data set G1 associated with each name includes a plurality of piecesof teach data T1 to T10.

For example, two or more of the plurality of data sets G1 selected by auser are four data sets G1 corresponding to the names “system teachpoint_1” to “system teach point_4”.

The CPU 120 causes the monitor 113 to display the overall images I1, I2,I3, and I4, which correspond to the four data set G1 and are illustratedin FIGS. 8A to 8D, such that the overall images I1, I2, I3, and I4 areswitched (that is, displayed, image by image) in this order atpredetermined time intervals. That is, in the descending order in thelist created in the window 405, the CPU 120 performs the simulation andcauses the monitor 113 to display the overall images. The time intervalscan be registered by inputting a value in a box 455 of the window 405.In addition, when a start button 456 is selected by a user, the displayof the overall images I1 to I4 is started. With this operation, theoverall images I1 to I4 are switched (that is, displayed, image byimage), so that a user can easily check the operation of the whole ofthe robot system 1000. Note that the present embodiment and amodification thereof may be combined with the above-described embodimentand a modification thereof in a predetermined information-processingapparatus or a predetermined information-processing method.

Fourth Embodiment

Next, a fourth embodiment will be described. FIG. 11A is a diagramillustrating a robot system 1000D of the fourth embodiment FIG. 11B is adiagram illustrating a virtual space V, and virtual objects disposed inthe virtual space V in the fourth embodiment FIG. 11C is a diagramillustrating a user interface image UI4 of the fourth embodiment Therobot system 1000D includes the robot arm 201, the robot hand 202, andthe AGV 204, which have been described in the first embodiment. Inaddition, the robot system 1000D includes a robot hand 205 attached tothe AGV 204. The robot hand 205 has the same structure as that of therobot hand 202. The robot hand 202 attached to the robot arm 201 is oneexample of a first peripheral apparatus, and the robot hand 205 attachedto the AGV 204 is one example of a second peripheral apparatus.

The present embodiment differs from the first embodiment in that awindow 401D is used in the user interface image UI4, instead of thewindow 401. In the first embodiment, the method of registering themodels of the peripheral apparatuses 202 to 204 and the method ofregistering the teach data for the peripheral apparatuses 202 to 204have been described. In the fourth embodiment, a method of reusing aregistered model and teach data will be described.

As illustrated in FIG. 11C, in the fourth embodiment, a node N41 and anode N42 are added to the tree structure T. The node N41 has a name“hand open” associated with teach data that is registered in advance.The node N42 has a name “hand close” associated with teach data that isregistered in advance.

The CPU 120 stores a group 1001 that includes data of the virtual robothand 202V and teach data corresponding to the nodes N41 and N42, in theHDD 123. The teach data corresponding to the nodes N41 and N42 is oneexample of second teach data.

For example, a user adds a group 1003 to the node N12, as a child. Thegroup 1003 is the same as the group 1001 stored in the HDD 123. The CPU120 then accepts the registration of the group 1003. In this manner, agroup that a user has registered once can be reused. In this example,the simulation is performed in the virtual space V so that the virtualrobot hand 202V is attached to the virtual robot arm 201V and that thevirtual robot hand 205V that has the same configuration of the virtualrobot hand 202V is attached to the virtual AGV 204V. As described above,in the user interface image UI4, the CPU 120 can accept the registrationof information of the group 1001, which was registered for the robothand 202, also as the registration of information for the robot hand205. Thus, since the information of the group 1001 related to thestructure of a peripheral apparatus can be reused, the registration workor the teaching work is simplified. Note that the present embodiment anda modification thereof may be combined with the above-describedembodiment and a modification thereof in a predeterminedinformation-processing apparatus or a predeterminedinformation-processing method.

Note that although the description has been made, in the first to thefourth embodiments, for the case where the robot arm 201 is a verticallyarticulated robot arm, the present disclosure is not limited to this.For example, the robot arm may be any one of various robot arms, such asa horizontally articulated robot arm, a parallel link robot arm, and aCartesian coordinate robot arm. In addition, the mechanism for holding aworkpiece may be achieved by a machine that can automatically performexpansion and contraction motion, bending and stretching motion,up-and-down motion, right-and-left motion, pivot motion, or combinationmotion thereof, depending on information data stored in the storagedevice of the control device.

As described above, the present disclosure simplifies the teaching workfor the whole system.

Other Embodiments

Embodiment(s) of the present invention can also be realized by acomputer of a system or apparatus that reads out and executes computerexecutable instructions (e.g., one or more programs) recorded on astorage medium (which may also be referred to more fully as a ‘nontransitory computer-readable storage medium’) to perform the functionsof one or more of the above-described embodiment(s) and/or that includesone or more circuits (e.g., application specific integrated circuit(ASIC)) for performing the functions of one or more of theabove-described embodiment(s), and by a method performed by the computerof the system or apparatus by, for example, reading out and executingthe computer executable instructions from the storage medium to performthe functions of one or more of the above-described embodiment(s) and/orcontrolling the one or more circuits to perform the functions of one ormore of the above-described embodiment(s). The computer may comprise oneor more processors (e.g., central processing unit (CPU), microprocessing unit (MPU)) and may include a network of separate computersor separate processors to read out and execute the computer executableinstructions. The computer executable instructions may be provided tothe computer, for example, from a network or the storage medium. Thestorage medium may include, for example, one or more of a hard disk, arandom-access memory (RAM), a read only memory (ROM), a storage ofdistributed computing systems, an optical disk (such as a compact disc(CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™), a flashmemory device, a memory card, and the like.

While the present invention has been described with reference toexemplary embodiments, it is to be understood that the invention is notlimited to the disclosed exemplary embodiments. The scope of thefollowing claims is to be accorded the broadest interpretation so as toencompass all such modifications and equivalent structures andfunctions.

This application claims the benefit of Japanese Patent Application No.2021-198197, filed Dec. 7, 2021, which is hereby incorporated byreference herein in its entirety.

What is claimed is:
 1. An information processing apparatus comprising: an information processing portion configured to accept registration of first teach data and second teach data such that the first teach data and the second teach data are associated with each other, the first teach data being related to a robot arm, the second teach data being related to a peripheral apparatus disposed around the robot arm.
 2. The information processing apparatus according to claim 1, further comprising a display portion, wherein the information processing portion is configured to cause the display portion to display a user interface image in which the information processing portion accepts the registration of the first teach data and the second teach data.
 3. The information processing apparatus according to claim 2, wherein the information processing portion is configured to accept the registration of the first teach data and the second teach data in the user interface image, by using a first name assigned to the first teach data and a second name assigned to the second teach data.
 4. The information processing apparatus according to claim 3, wherein the information processing portion is configured to accept assignment between the second name and the second teach data in the user interface image.
 5. The information processing apparatus according to claim 1, wherein the information processing portion is configured to simulate a state of a first model that corresponds to the robot arm, in a virtual space, depending on the first teach data, and simulate a state of a second model that corresponds to the peripheral apparatus, in the virtual space, depending on the second teach data.
 6. The information processing apparatus according to claim 2, wherein the information processing portion is configured to accept registration of a first model that corresponds to the robot arm, and a second model that corresponds to the peripheral apparatus, in the user interface image, and wherein the information processing portion is configured to simulate a state of the first model in a virtual space, depending on the first teach data, and simulate a state of the second model in the virtual space, depending on the second teach data.
 7. The information processing apparatus according to claim 6, wherein the information processing portion is configured to accept the registration of the first model and the second model in the user interface image, by using a third name assigned to the first model and a fourth name assigned to the second model.
 8. The information processing apparatus according to claim 6, wherein the information processing portion is configured to cause the display portion to display a first model image obtained by simulating a state of the first model in the virtual space, depending on the first teach data, and a second model image obtained by simulating a state of the second model in the virtual space, depending on the second teach data.
 9. The information processing apparatus according to claim 1, wherein the information processing portion is configured to accept registration of a plurality of data sets each including the first teach data and the second teach data.
 10. The information processing apparatus according to claim 2, wherein the information processing portion is configured to accept registration of a plurality of data sets each including the first teach data and the second teach data, and wherein the information processing portion is configured to cause the display portion to display the plurality of data sets, as a list.
 11. The information processing apparatus according to claim 2, wherein the information processing portion is configured to accept registration of a plurality of data sets each including the first teach data and the second teach data, and wherein the information processing portion is configured to cause the display portion to display a fifth name assigned to each of the plurality of data sets, and to display the fifth name as a list.
 12. The information processing apparatus according to claim 8, wherein the information processing portion is configured to accept registration of a plurality of data sets each including the first teach data and the second teach data, and wherein the information processing portion is configured to cause the display portion to display the first model image and the second model image that correspond to a data set that is of the plurality of data sets, and that is specified by a user.
 13. The information processing apparatus according to claim 8, wherein the information processing portion is configured to accept registration of a plurality of data sets each including the first teach data and the second teach data, and wherein the information processing portion is configured to cause the display portion to display the first model image and the second model image that correspond to each of two or more data sets that are of the plurality of data sets, and that are specified by a user, such that images each including the first model image and the second model image are switched.
 14. The information processing apparatus according to claim 6, wherein the peripheral apparatus is a first peripheral apparatus, and wherein the information processing portion is configured to accept, in the user interface image, registration of information of a group associated with the first peripheral apparatus and including the second model and the second teach data, as registration of information associated with a second peripheral apparatus.
 15. The information processing apparatus according to claim 1, wherein the information processing portion is configured to accept registration of data in which the first teach data and the second teach data are associated with each other.
 16. A system comprising: the information processing apparatus according to claim 1; the robot arm; and the peripheral apparatus.
 17. The system according to claim 16, further comprising a control unit configured to control the robot arm, depending on the first teach data obtained from the information processing apparatus, and control the peripheral apparatus, depending on the second teach data obtained from the information processing apparatus.
 18. An information processing method comprising: accepting registration of first teach data and second teach data such that the first teach data and the second teach data are associated with each other, the first teach data being related to a robot arm, the second teach data being related to a peripheral apparatus disposed around the robot arm.
 19. A method of manufacturing products by using the system according to claim
 16. 20. A computer-readable non transitory recording medium storing a program that causes a computer to execute the information processing method according to claim
 18. 